import launch
import launch_ros.actions

def generate_launch_description():
    return launch.LaunchDescription([
        launch_ros.actions.Node(
            package='sls_controller',
            executable='sls_mainController',
            name='sls_controller',
			output='screen',
            parameters=[{
                "vehicleID":"uav1",
                "simulation_mode":False,
                "local_host_mode":False,
                "reconnect_max":3
                }]
            ),
		launch_ros.actions.Node(
            package='sls_camera',
            executable='merge_node',
            name='sls_camera'),
        launch_ros.actions.Node(
            package='sls_laserdis',
            executable='dist_measure_node',
            name='dist_measure_node',
            parameters=[{
                "port_name":"/dev/ttyACM1",
                }]
            )
  ])
